<!DOCTYPE html>
<html>
  <head>
    <meta charset="utf-8">
      <title>Class MotionUtil | HiAPI-C# 2025 </title>
      <meta name="viewport" content="width=device-width, initial-scale=1.0">
      <meta name="title" content="Class MotionUtil | HiAPI-C# 2025 ">
      
      <meta name="description" content="Cutter location utility.">
      <link rel="icon" href="../img/HiAPI.favicon.ico">
      <link rel="stylesheet" href="../public/docfx.min.css">
      <link rel="stylesheet" href="../public/main.css">
      <meta name="docfx:navrel" content="../toc.html">
      <meta name="docfx:tocrel" content="toc.html">
      
      <meta name="docfx:rel" content="../">
      
      
      
      <meta name="loc:inThisArticle" content="In this article">
      <meta name="loc:searchResultsCount" content="{count} results for &quot;{query}&quot;">
      <meta name="loc:searchNoResults" content="No results for &quot;{query}&quot;">
      <meta name="loc:tocFilter" content="Filter by title">
      <meta name="loc:nextArticle" content="Next">
      <meta name="loc:prevArticle" content="Previous">
      <meta name="loc:themeLight" content="Light">
      <meta name="loc:themeDark" content="Dark">
      <meta name="loc:themeAuto" content="Auto">
      <meta name="loc:changeTheme" content="Change theme">
      <meta name="loc:copy" content="Copy">
      <meta name="loc:downloadPdf" content="Download PDF">

      <script type="module" src="./../public/docfx.min.js"></script>

      <script>
        const theme = localStorage.getItem('theme') || 'auto'
        document.documentElement.setAttribute('data-bs-theme', theme === 'auto' ? (window.matchMedia('(prefers-color-scheme: dark)').matches ? 'dark' : 'light') : theme)
      </script>

  </head>

  <body class="tex2jax_ignore" data-layout="" data-yaml-mime="ManagedReference">
    <header class="bg-body border-bottom">
      <nav id="autocollapse" class="navbar navbar-expand-md" role="navigation">
        <div class="container-xxl flex-nowrap">
          <a class="navbar-brand" href="../index.html">
            <img id="logo" class="svg" src="../img/HiAPI.logo.png" alt="">
            
          </a>
          <button class="btn btn-lg d-md-none border-0" type="button" data-bs-toggle="collapse" data-bs-target="#navpanel" aria-controls="navpanel" aria-expanded="false" aria-label="Toggle navigation">
            <i class="bi bi-three-dots"></i>
          </button>
          <div class="collapse navbar-collapse" id="navpanel">
            <div id="navbar">
              <form class="search" role="search" id="search">
                <i class="bi bi-search"></i>
                <input class="form-control" id="search-query" type="search" disabled placeholder="Search" autocomplete="off" aria-label="Search">
              </form>
            </div>
          </div>
        </div>
      </nav>
    </header>

    <main class="container-xxl">
      <div class="toc-offcanvas">
        <div class="offcanvas-md offcanvas-start" tabindex="-1" id="tocOffcanvas" aria-labelledby="tocOffcanvasLabel">
          <div class="offcanvas-header">
            <h5 class="offcanvas-title" id="tocOffcanvasLabel">Table of Contents</h5>
            <button type="button" class="btn-close" data-bs-dismiss="offcanvas" data-bs-target="#tocOffcanvas" aria-label="Close"></button>
          </div>
          <div class="offcanvas-body">
            <nav class="toc" id="toc"></nav>
          </div>
        </div>
      </div>

      <div class="content">
        <div class="actionbar">
          <button class="btn btn-lg border-0 d-md-none" type="button" data-bs-toggle="offcanvas" data-bs-target="#tocOffcanvas" aria-controls="tocOffcanvas" aria-expanded="false" aria-label="Show table of contents">
            <i class="bi bi-list"></i>
          </button>

          <nav id="breadcrumb"></nav>
        </div>

        <article data-uid="Hi.Machining.MotionUtil">



  <h1 id="Hi_Machining_MotionUtil" data-uid="Hi.Machining.MotionUtil" class="text-break">
Class MotionUtil  
  </h1>

  <div class="facts text-secondary">
    <dl><dt>Namespace</dt><dd><a class="xref" href="Hi.html">Hi</a>.<a class="xref" href="Hi.Machining.html">Machining</a></dd></dl>
  <dl><dt>Assembly</dt><dd>HiMech.dll</dd></dl>
  </div>

  <div class="markdown summary"><p>Cutter location utility.</p>
</div>
  <div class="markdown conceptual"></div>

  <div class="codewrapper">
    <pre><code class="lang-csharp hljs">public static class MotionUtil</code></pre>
  </div>




  <dl class="typelist inheritance">
    <dt>Inheritance</dt>
    <dd>
      <div><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object">object</a></div>
      <div><span class="xref">MotionUtil</span></div>
    </dd>
  </dl>



  <dl class="typelist inheritedMembers">
    <dt>Inherited Members</dt>
    <dd>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.equals#system-object-equals(system-object)">object.Equals(object)</a>
    </div>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.equals#system-object-equals(system-object-system-object)">object.Equals(object, object)</a>
    </div>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.gethashcode">object.GetHashCode()</a>
    </div>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.gettype">object.GetType()</a>
    </div>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.memberwiseclone">object.MemberwiseClone()</a>
    </div>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.referenceequals">object.ReferenceEquals(object, object)</a>
    </div>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.tostring">object.ToString()</a>
    </div>
  </dd></dl>






  <h2 class="section" id="methods">Methods
</h2>


  <a id="Hi_Machining_MotionUtil_GetLinearRatio_" data-uid="Hi.Machining.MotionUtil.GetLinearRatio*"></a>

  <h3 id="Hi_Machining_MotionUtil_GetLinearRatio_Hi_Geom_Vec3d_Hi_Geom_Vec3d_Hi_Geom_Vec3d_" data-uid="Hi.Machining.MotionUtil.GetLinearRatio(Hi.Geom.Vec3d,Hi.Geom.Vec3d,Hi.Geom.Vec3d)">
  GetLinearRatio(Vec3d, Vec3d, Vec3d)
  
  </h3>

  <div class="markdown level1 summary"><p>Get linear ratio, which is cos(theta) square.
Theta is the clamping angle between (v1-v0) and (v2-v1).</p>
</div>
  <div class="markdown level1 conceptual"></div>

  <div class="codewrapper">
    <pre><code class="lang-csharp hljs">public static double GetLinearRatio(Vec3d v0, Vec3d v1, Vec3d v2)</code></pre>
  </div>

  <h4 class="section">Parameters</h4>
  <dl class="parameters">
    <dt><code>v0</code> <a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
    <dd></dd>
    <dt><code>v1</code> <a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
    <dd></dd>
    <dt><code>v2</code> <a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
    <dd></dd>
  </dl>

  <h4 class="section">Returns</h4>
  <dl class="parameters">
    <dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.double">double</a></dt>
    <dd></dd>
  </dl>











  <a id="Hi_Machining_MotionUtil_InterpolateClMat_" data-uid="Hi.Machining.MotionUtil.InterpolateClMat*"></a>

  <h3 id="Hi_Machining_MotionUtil_InterpolateClMat_Hi_Geom_Mat4d_Hi_Geom_DVec3d_" data-uid="Hi.Machining.MotionUtil.InterpolateClMat(Hi.Geom.Mat4d,Hi.Geom.DVec3d)">
  InterpolateClMat(Mat4d, DVec3d)
  
  </h3>

  <div class="markdown level1 summary"><p>Interpolates the cutter location mat by cutter location and orientation.</p>
</div>
  <div class="markdown level1 conceptual"></div>

  <div class="codewrapper">
    <pre><code class="lang-csharp hljs">public static IEnumerable&lt;Mat4d&gt; InterpolateClMat(Mat4d clMat0, DVec3d targetCl)</code></pre>
  </div>

  <h4 class="section">Parameters</h4>
  <dl class="parameters">
    <dt><code>clMat0</code> <a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a></dt>
    <dd><p>current cutter location mat, at begining position</p>
</dd>
    <dt><code>targetCl</code> <a class="xref" href="Hi.Geom.DVec3d.html">DVec3d</a></dt>
    <dd><p>The target cl, at end position</p>
</dd>
  </dl>

  <h4 class="section">Returns</h4>
  <dl class="parameters">
    <dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.collections.generic.ienumerable-1">IEnumerable</a>&lt;<a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a>&gt;</dt>
    <dd></dd>
  </dl>











  <a id="Hi_Machining_MotionUtil_InterpolateClRotMatByClAbc_" data-uid="Hi.Machining.MotionUtil.InterpolateClRotMatByClAbc*"></a>

  <h3 id="Hi_Machining_MotionUtil_InterpolateClRotMatByClAbc_Hi_Geom_Mat4d_Hi_Geom_Vec3d_" data-uid="Hi.Machining.MotionUtil.InterpolateClRotMatByClAbc(Hi.Geom.Mat4d,Hi.Geom.Vec3d)">
  InterpolateClRotMatByClAbc(Mat4d, Vec3d)
  
  </h3>

  <div class="markdown level1 summary"><p>Interpolates the cutter location mat by cutter orientation.</p>
</div>
  <div class="markdown level1 conceptual"></div>

  <div class="codewrapper">
    <pre><code class="lang-csharp hljs">public static IEnumerable&lt;Mat4d&gt; InterpolateClRotMatByClAbc(Mat4d clMat0, Vec3d targetClAbc)</code></pre>
  </div>

  <h4 class="section">Parameters</h4>
  <dl class="parameters">
    <dt><code>clMat0</code> <a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a></dt>
    <dd><p>current cutter location mat, at begining position</p>
</dd>
    <dt><code>targetClAbc</code> <a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
    <dd><p>The target cl.n, at end position</p>
</dd>
  </dl>

  <h4 class="section">Returns</h4>
  <dl class="parameters">
    <dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.collections.generic.ienumerable-1">IEnumerable</a>&lt;<a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a>&gt;</dt>
    <dd></dd>
  </dl>











  <a id="Hi_Machining_MotionUtil_Interpolation_" data-uid="Hi.Machining.MotionUtil.Interpolation*"></a>

  <h3 id="Hi_Machining_MotionUtil_Interpolation_Hi_Geom_Mat4d_Hi_Geom_Mat4d_System_Double_" data-uid="Hi.Machining.MotionUtil.Interpolation(Hi.Geom.Mat4d,Hi.Geom.Mat4d,System.Double)">
  Interpolation(Mat4d, Mat4d, double)
  
  </h3>

  <div class="markdown level1 summary"><p>Interpolate by rotation and translation.</p>
</div>
  <div class="markdown level1 conceptual"></div>

  <div class="codewrapper">
    <pre><code class="lang-csharp hljs">public static Mat4d Interpolation(Mat4d m0, Mat4d m1, double alpha)</code></pre>
  </div>

  <h4 class="section">Parameters</h4>
  <dl class="parameters">
    <dt><code>m0</code> <a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a></dt>
    <dd><p>m0</p>
</dd>
    <dt><code>m1</code> <a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a></dt>
    <dd><p>m1</p>
</dd>
    <dt><code>alpha</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.double">double</a></dt>
    <dd><p>ratio between m0 and m1.</p>
</dd>
  </dl>

  <h4 class="section">Returns</h4>
  <dl class="parameters">
    <dt><a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a></dt>
    <dd><p>interpolated matrix</p>
</dd>
  </dl>











  <a id="Hi_Machining_MotionUtil_IsMcLinear_" data-uid="Hi.Machining.MotionUtil.IsMcLinear*"></a>

  <h3 id="Hi_Machining_MotionUtil_IsMcLinear_Hi_Geom_DVec3d_Hi_Geom_DVec3d_Hi_Geom_DVec3d_System_Double_" data-uid="Hi.Machining.MotionUtil.IsMcLinear(Hi.Geom.DVec3d,Hi.Geom.DVec3d,Hi.Geom.DVec3d,System.Double)">
  IsMcLinear(DVec3d, DVec3d, DVec3d, double)
  
  </h3>

  <div class="markdown level1 summary"><p>Determines if three machine coordinate points form a linear path.</p>
</div>
  <div class="markdown level1 conceptual"></div>

  <div class="codewrapper">
    <pre><code class="lang-csharp hljs">public static bool IsMcLinear(DVec3d mc0, DVec3d mc1, DVec3d mc2, double linearGap = 0.9999999)</code></pre>
  </div>

  <h4 class="section">Parameters</h4>
  <dl class="parameters">
    <dt><code>mc0</code> <a class="xref" href="Hi.Geom.DVec3d.html">DVec3d</a></dt>
    <dd><p>The first machine coordinate point.</p>
</dd>
    <dt><code>mc1</code> <a class="xref" href="Hi.Geom.DVec3d.html">DVec3d</a></dt>
    <dd><p>The second machine coordinate point.</p>
</dd>
    <dt><code>mc2</code> <a class="xref" href="Hi.Geom.DVec3d.html">DVec3d</a></dt>
    <dd><p>The third machine coordinate point.</p>
</dd>
    <dt><code>linearGap</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.double">double</a></dt>
    <dd><p>The threshold for linearity determination. Default is (1 - 1e-7).</p>
</dd>
  </dl>

  <h4 class="section">Returns</h4>
  <dl class="parameters">
    <dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.boolean">bool</a></dt>
    <dd><p>True if the points form a linear path; otherwise, false.</p>
</dd>
  </dl>












</article>

        <div class="contribution d-print-none">
        </div>


      </div>

      <div class="affix">
        <nav id="affix"></nav>
      </div>
    </main>

    <div class="container-xxl search-results" id="search-results"></div>

    <footer class="border-top text-secondary">
      <div class="container-xxl">
        <div class="flex-fill">
          <span> Copyright © 2025 <a href='https://superhightech.com.tw'>Tech Coordinate</a>. All rights reserved. <a href='https://superhightech.com.tw'>超級高科技股份有限公司</a> © 2025 版權所有 </span>
        </div>
      </div>
    </footer>
  </body>
</html>
